"Filter failed" error with hp laserjet 1020 plus using driver ”foo2zjs-z1“

[wolf51983]

[Background]:
I used raspberry pi2b to share the printer HP laserjet 1020 plus by using cups with driver foo2zjs-z1. It could work fine for some time just after setting with cups web page. And after waiting some time( just leave it without any printing job), it got issue to start new print job with error message "Filter failed". The only way is to delete it in CUPS and add again, then it could work. And after some time, it failed again.

[Information]:
Description: HP LaserJet 1020
Driver: HP LaserJet 1020 Foomatic/foo2zjs-z1 (recommended) (grayscale)
Connection: hp:/usb/HP_LaserJet_1020?serial=S44L2TH
Defaults: job-sheets=none, none media=iso_a4_210x297mm sides=one-sided

Could you help to give some advice on this issue?

[thelabcat]

Same error on KDE Neon 5.27.0 with the Dell 1250c.